EP3442487A4 - Apparatus and systems for controlled collapse of an exoskeleton - Google Patents

Apparatus and systems for controlled collapse of an exoskeleton Download PDF

Info

Publication number
EP3442487A4
EP3442487A4 EP17782059.4A EP17782059A EP3442487A4 EP 3442487 A4 EP3442487 A4 EP 3442487A4 EP 17782059 A EP17782059 A EP 17782059A EP 3442487 A4 EP3442487 A4 EP 3442487A4
Authority
EP
European Patent Office
Prior art keywords
exoskeleton
systems
controlled collapse
collapse
controlled
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP17782059.4A
Other languages
German (de)
French (fr)
Other versions
EP3442487B1 (en
EP3442487A1 (en
Inventor
Amit Goffer
Saman NASER
Roman RABKIN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rewalk Robotics Ltd
Original Assignee
Rewalk Robotics Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rewalk Robotics Ltd filed Critical Rewalk Robotics Ltd
Publication of EP3442487A1 publication Critical patent/EP3442487A1/en
Publication of EP3442487A4 publication Critical patent/EP3442487A4/en
Application granted granted Critical
Publication of EP3442487B1 publication Critical patent/EP3442487B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor
    • H02P3/12—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor by short-circuit or resistive braking
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A61H2201/0176—By stopping operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5005—Control means thereof for controlling frequency distribution, modulation or interference of a driving signal
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5079—Velocity sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5082—Temperature sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5084—Acceleration sensors

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Epidemiology (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)
  • Control Of Electric Motors In General (AREA)
EP17782059.4A 2016-04-15 2017-04-13 Apparatus and systems for controlled collapse of an exoskeleton Active EP3442487B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201662323512P 2016-04-15 2016-04-15
PCT/IL2017/050453 WO2017179061A1 (en) 2016-04-15 2017-04-13 Apparatus and systems for controlled collapse of an exoskeleton

Publications (3)

Publication Number Publication Date
EP3442487A1 EP3442487A1 (en) 2019-02-20
EP3442487A4 true EP3442487A4 (en) 2019-11-13
EP3442487B1 EP3442487B1 (en) 2022-08-24

Family

ID=60042437

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17782059.4A Active EP3442487B1 (en) 2016-04-15 2017-04-13 Apparatus and systems for controlled collapse of an exoskeleton

Country Status (7)

Country Link
US (2) US10980698B2 (en)
EP (1) EP3442487B1 (en)
CN (2) CN109069338B (en)
ES (1) ES2930004T3 (en)
HU (1) HUE060440T2 (en)
PL (1) PL3442487T3 (en)
WO (1) WO2017179061A1 (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018505646A (en) * 2015-02-04 2018-02-22 ソフトウェア モーター カンパニーＳｏｆｔｗａｒｅ Ｍｏｔｏｒ Ｃｏｍｐａｎｙ Highly reliable control of multi-rotor pole switched reluctance machine
EP3442487B1 (en) * 2016-04-15 2022-08-24 Rewalk Robotics Ltd. Apparatus and systems for controlled collapse of an exoskeleton
DE102017126259B4 (en) * 2017-11-09 2019-08-01 Universität Stuttgart Exoskeleton system, control device and procedures
US11278435B2 (en) * 2020-01-03 2022-03-22 Otto Bock Healthcare Lp Reconfigurable electrical circuit for supplying increased power from a supercapacitor and method for using the same
US20220077788A1 (en) * 2020-09-04 2022-03-10 Texas Instruments Incorporated Isolated dc-dc power converter with low radiated emissions
CN114884409A (en) * 2022-07-11 2022-08-09 深圳市杰美康机电有限公司 Brake control circuit for stepping motor
TWI828331B (en) * 2022-09-23 2024-01-01 國家中山科學研究院 Upper limb exoskeleton device
KR20240055953A (en) * 2022-10-20 2024-04-30 삼성전자주식회사 Control method for reduce power consumption of wearable device and the wearable device performing the same

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US20150127118A1 (en) * 2012-06-12 2015-05-07 Iwalk, Inc. Prosthetic, orthotic or exoskeleton device

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US7153242B2 (en) * 2001-05-24 2006-12-26 Amit Goffer Gait-locomotor apparatus
DE10223139A1 (en) * 2002-05-24 2003-12-11 Bosch Gmbh Robert Electronically commutated motor
JP3994956B2 (en) * 2002-12-18 2007-10-24 ソニー株式会社 Robot device, load absorbing device and load absorbing method
US8075633B2 (en) * 2003-09-25 2011-12-13 Massachusetts Institute Of Technology Active ankle foot orthosis
JP2005161469A (en) * 2003-12-03 2005-06-23 Sony Corp Robot device and overcurrent protective device for robot device
US20070123997A1 (en) * 2005-03-31 2007-05-31 Massachusetts Institute Of Technology Exoskeletons for running and walking
JP2007209184A (en) * 2006-02-06 2007-08-16 Mitsubishi Electric Corp Power converter
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See also references of WO2017179061A1 *

Also Published As

Publication number Publication date
US10980698B2 (en) 2021-04-20
HUE060440T2 (en) 2023-03-28
US20210236375A1 (en) 2021-08-05
CN109069338A (en) 2018-12-21
CN109069338B (en) 2021-12-07
US20190133867A1 (en) 2019-05-09
PL3442487T3 (en) 2022-12-12
EP3442487B1 (en) 2022-08-24
CN114099223A (en) 2022-03-01
ES2930004T3 (en) 2022-12-05
EP3442487A1 (en) 2019-02-20
WO2017179061A1 (en) 2017-10-19

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